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<div class="title">global_optimization_pdm.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef NURBS_OPTIMIZATION_H</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define NURBS_OPTIMIZATION_H</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/on_nurbs/nurbs_tools.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/on_nurbs/nurbs_data.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/on_nurbs/nurbs_solve.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;{</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keyword">namespace </span>on_nurbs</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  {</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization.html">   55</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization.html">GlobalOptimization</a></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    {</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="structpcl_1_1on__nurbs_1_1_global_optimization_1_1_parameter.html">   60</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1on__nurbs_1_1_global_optimization_1_1_parameter.html">Parameter</a></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      {</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        <span class="keywordtype">double</span> interior_weight;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        <span class="keywordtype">double</span> interior_smoothness;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        <span class="keywordtype">double</span> boundary_weight;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        <span class="keywordtype">double</span> boundary_smoothness;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        <span class="keywordtype">double</span> closing_weight;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        <span class="keywordtype">double</span> closing_sigma;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        <span class="keywordtype">unsigned</span> closing_samples;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        <span class="keywordtype">double</span> common_weight;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        <a class="code" href="structpcl_1_1on__nurbs_1_1_global_optimization_1_1_parameter.html">Parameter</a> (<span class="keywordtype">double</span> intW = 1.0, <span class="keywordtype">double</span> intS = 1e-6, <span class="keywordtype">double</span> bndW = 0.0, <span class="keywordtype">double</span> bndS = 1e-6, <span class="keywordtype">double</span> cloW = 0.0,</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;                   <span class="keywordtype">double</span> cloSig = 0.0, <span class="keywordtype">unsigned</span> cloSam = 0, <span class="keywordtype">double</span> comW = 0.0) :</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;          interior_weight (intW), interior_smoothness (intS), boundary_weight (bndW), boundary_smoothness (bndS),</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;              closing_weight (cloW), closing_sigma (cloSig), closing_samples (cloSam), common_weight (comW)</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        {</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        }</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      };</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization.html#aa97fa31a38b10f7b80241a7135adf74b">   85</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization.html#aa97fa31a38b10f7b80241a7135adf74b">GlobalOptimization</a> (<span class="keyword">const</span> std::vector&lt;NurbsDataSurface*&gt; &amp;data, <span class="keyword">const</span> std::vector&lt;ON_NurbsSurface*&gt; &amp;nurbs);</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization.html#abf33b3da8bae7785ea8ae2b0fdf8a0d3">   91</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization.html#abf33b3da8bae7785ea8ae2b0fdf8a0d3">setCommonBoundary</a> (<span class="keyword">const</span> vector_vec3d &amp;boundary, <span class="keyword">const</span> vector_vec2i &amp;nurbs_indices);</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization.html#acf223c23a18421393aa77cb631a58c7d">   97</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization.html#acf223c23a18421393aa77cb631a58c7d">assemble</a> (<a class="code" href="structpcl_1_1on__nurbs_1_1_global_optimization_1_1_parameter.html">Parameter</a> params = <a class="code" href="structpcl_1_1on__nurbs_1_1_global_optimization_1_1_parameter.html">Parameter</a> ());</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization.html#aa275ea61b77f35a2c778fdd6857ab6ab">  102</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization.html#aa275ea61b77f35a2c778fdd6857ab6ab">solve</a> (<span class="keywordtype">double</span> damp = 1.0);</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization.html#a61c10b406c5cfa324f55bbaf2bc411a6">  107</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization.html#a61c10b406c5cfa324f55bbaf2bc411a6">updateSurf</a> (<span class="keywordtype">double</span> damp);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization.html#a357a96881e310c458c66a6bbb0c9ff33">  113</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization.html#a357a96881e310c458c66a6bbb0c9ff33">setInvMapParams</a> (<span class="keywordtype">double</span> im_max_steps, <span class="keywordtype">double</span> im_accuracy);</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization.html#a63f9037416afbc0d3ba323d6bb14c403">  119</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization.html#a63f9037416afbc0d3ba323d6bb14c403">refine</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">id</span>, <span class="keywordtype">int</span> dim);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      setQuiet (<span class="keywordtype">bool</span> val)</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      {</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        m_quiet = val;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        m_solver.<a class="code" href="classpcl_1_1on__nurbs_1_1_nurbs_solve.html#a70b6eb9dcea4c9625b4d288a529e0a33">setQuiet</a> (val);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      std::vector&lt;NurbsDataSurface*&gt; m_data;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      std::vector&lt;ON_NurbsSurface*&gt; m_nurbs;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      assembleCommonParams (<span class="keywordtype">unsigned</span> id1, <span class="keywordtype">double</span> weight, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization.html#a3b61b8b05ee674d38fe07502db0a4bf3">  138</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization.html#a3b61b8b05ee674d38fe07502db0a4bf3">assembleCommonBoundaries</a> (<span class="keywordtype">unsigned</span> id1, <span class="keywordtype">double</span> weight, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization.html#ac8aaefca95b9b3e2ad5f0b76a215489a">  142</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization.html#ac8aaefca95b9b3e2ad5f0b76a215489a">assembleClosingBoundaries</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">id</span>, <span class="keywordtype">unsigned</span> samples, <span class="keywordtype">double</span> sigma, <span class="keywordtype">double</span> weight, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00146"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization.html#ad733e3546af45191ca59cf83ce0c5f19">  146</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization.html#ad733e3546af45191ca59cf83ce0c5f19">assembleInteriorPoints</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">id</span>, <span class="keywordtype">int</span> ncps, <span class="keywordtype">double</span> weight, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization.html#ab8adfbc7ef2618febe74738e139c89cd">  150</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization.html#ab8adfbc7ef2618febe74738e139c89cd">assembleBoundaryPoints</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">id</span>, <span class="keywordtype">int</span> ncps, <span class="keywordtype">double</span> weight, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00154"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization.html#acb6b1332afeebbb6b66fd116a8db46d1">  154</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization.html#acb6b1332afeebbb6b66fd116a8db46d1">assembleRegularisation</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">id</span>, <span class="keywordtype">int</span> ncps, <span class="keywordtype">double</span> wCageRegInt, <span class="keywordtype">double</span> wCageRegBnd, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00158"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization.html#a2b740d398aa1440d6ee93e6be246e153">  158</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization.html#a2b740d398aa1440d6ee93e6be246e153">addParamConstraint</a> (<span class="keyword">const</span> Eigen::Vector2i &amp;<span class="keywordtype">id</span>, <span class="keyword">const</span> Eigen::Vector2d &amp;params1, <span class="keyword">const</span> Eigen::Vector2d &amp;params2,</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;                          <span class="keywordtype">double</span> weight, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00163"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization.html#a2d9bfac905a8e476a90988d5f3a2b48c">  163</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization.html#a2d9bfac905a8e476a90988d5f3a2b48c">addPointConstraint</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">id</span>, <span class="keywordtype">int</span> ncps, <span class="keyword">const</span> Eigen::Vector2d &amp;params, <span class="keyword">const</span> Eigen::Vector3d &amp;point,</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;                          <span class="keywordtype">double</span> weight, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00168"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization.html#aa1c1006ca6265c94b464a64898236fce">  168</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization.html#aa1c1006ca6265c94b464a64898236fce">addCageInteriorRegularisation</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">id</span>, <span class="keywordtype">int</span> ncps, <span class="keywordtype">double</span> weight, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00172"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization.html#a5a911b84549be29804a8dc4ccfb56582">  172</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization.html#a5a911b84549be29804a8dc4ccfb56582">addCageBoundaryRegularisation</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">id</span>, <span class="keywordtype">int</span> ncps, <span class="keywordtype">double</span> weight, <span class="keywordtype">int</span> side, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization.html#a04a22cba78066953331ec1827f6b80ae">  176</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization.html#a04a22cba78066953331ec1827f6b80ae">addCageCornerRegularisation</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">id</span>, <span class="keywordtype">int</span> ncps, <span class="keywordtype">double</span> weight, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_nurbs_solve.html">NurbsSolve</a> m_solver;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      <span class="keywordtype">bool</span> m_quiet;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      <span class="keywordtype">unsigned</span> m_ncols, m_nrows;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      <span class="keywordtype">int</span> im_max_steps;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      <span class="keywordtype">double</span> im_accuracy;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      <span class="comment">// index routines</span></div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;      grc2gl (<span class="keyword">const</span> <a class="code" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a> &amp;nurbs, <span class="keywordtype">int</span> I, <span class="keywordtype">int</span> J)</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      {</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        <span class="keywordflow">return</span> nurbs.CVCount (1) * I + J;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      } <span class="comment">// global row/col index to global lexicographic index</span></div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      lrc2gl (<span class="keyword">const</span> <a class="code" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a> &amp;nurbs, <span class="keywordtype">int</span> E, <span class="keywordtype">int</span> F, <span class="keywordtype">int</span> i, <span class="keywordtype">int</span> j)</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      {</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        <span class="keywordflow">return</span> grc2gl (nurbs, E + i, F + j);</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      } <span class="comment">// local row/col index to global lexicographic index</span></div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      gl2gr (<span class="keyword">const</span> <a class="code" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a> &amp;nurbs, <span class="keywordtype">int</span> A)</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      {</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (A / nurbs.CVCount (1)));</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      } <span class="comment">// global lexicographic in global row index</span></div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      gl2gc (<span class="keyword">const</span> <a class="code" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a> &amp;nurbs, <span class="keywordtype">int</span> A)</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      {</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (A % nurbs.CVCount (1)));</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      } <span class="comment">// global lexicographic in global col index</span></div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    };</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  }</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;}</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
<div class="ttc" id="aclass_o_n___nurbs_surface_html"><div class="ttname"><a href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a></div><div class="ttdef"><b>Definition:</b> opennurbs_nurbssurface.h:65</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_html"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization.html">pcl::on_nurbs::GlobalOptimization</a></div><div class="ttdoc">Fitting and optimizing multiple B-Spline surfaces to 3D point-clouds using point-distance-minimizatio...</div><div class="ttdef"><b>Definition:</b> global_optimization_pdm.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_html_a04a22cba78066953331ec1827f6b80ae"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization.html#a04a22cba78066953331ec1827f6b80ae">pcl::on_nurbs::GlobalOptimization::addCageCornerRegularisation</a></div><div class="ttdeci">virtual void addCageCornerRegularisation(unsigned id, int ncps, double weight, unsigned &amp;row)</div><div class="ttdoc">Add minimization constraint: corner smoothness by control point regularisation.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_html_a2b740d398aa1440d6ee93e6be246e153"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization.html#a2b740d398aa1440d6ee93e6be246e153">pcl::on_nurbs::GlobalOptimization::addParamConstraint</a></div><div class="ttdeci">virtual void addParamConstraint(const Eigen::Vector2i &amp;id, const Eigen::Vector2d &amp;params1, const Eigen::Vector2d &amp;params2, double weight, unsigned &amp;row)</div><div class="ttdoc">Add minimization constraint: two points in parametric domain of two surfaces should lie on each other...</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_html_a2d9bfac905a8e476a90988d5f3a2b48c"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization.html#a2d9bfac905a8e476a90988d5f3a2b48c">pcl::on_nurbs::GlobalOptimization::addPointConstraint</a></div><div class="ttdeci">virtual void addPointConstraint(unsigned id, int ncps, const Eigen::Vector2d &amp;params, const Eigen::Vector3d &amp;point, double weight, unsigned &amp;row)</div><div class="ttdoc">Add minimization constraint: point-to-surface distance (point-distance-minimization).</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_html_a357a96881e310c458c66a6bbb0c9ff33"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization.html#a357a96881e310c458c66a6bbb0c9ff33">pcl::on_nurbs::GlobalOptimization::setInvMapParams</a></div><div class="ttdeci">void setInvMapParams(double im_max_steps, double im_accuracy)</div><div class="ttdoc">Set parameters for inverse mapping</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_html_a3b61b8b05ee674d38fe07502db0a4bf3"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization.html#a3b61b8b05ee674d38fe07502db0a4bf3">pcl::on_nurbs::GlobalOptimization::assembleCommonBoundaries</a></div><div class="ttdeci">virtual void assembleCommonBoundaries(unsigned id1, double weight, unsigned &amp;row)</div><div class="ttdoc">Assemble closing-constraint of boundaries using data.boundary for getting closest points</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_html_a5a911b84549be29804a8dc4ccfb56582"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization.html#a5a911b84549be29804a8dc4ccfb56582">pcl::on_nurbs::GlobalOptimization::addCageBoundaryRegularisation</a></div><div class="ttdeci">virtual void addCageBoundaryRegularisation(unsigned id, int ncps, double weight, int side, unsigned &amp;row)</div><div class="ttdoc">Add minimization constraint: boundary smoothness by control point regularisation.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_html_a61c10b406c5cfa324f55bbaf2bc411a6"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization.html#a61c10b406c5cfa324f55bbaf2bc411a6">pcl::on_nurbs::GlobalOptimization::updateSurf</a></div><div class="ttdeci">virtual void updateSurf(double damp)</div><div class="ttdoc">Update surface according to the current system of equations.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_html_a63f9037416afbc0d3ba323d6bb14c403"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization.html#a63f9037416afbc0d3ba323d6bb14c403">pcl::on_nurbs::GlobalOptimization::refine</a></div><div class="ttdeci">void refine(unsigned id, int dim)</div><div class="ttdoc">Refines specified surface by inserting a knot in the middle of each element.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_html_aa1c1006ca6265c94b464a64898236fce"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization.html#aa1c1006ca6265c94b464a64898236fce">pcl::on_nurbs::GlobalOptimization::addCageInteriorRegularisation</a></div><div class="ttdeci">virtual void addCageInteriorRegularisation(unsigned id, int ncps, double weight, unsigned &amp;row)</div><div class="ttdoc">Add minimization constraint: interior smoothness by control point regularisation.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_html_aa275ea61b77f35a2c778fdd6857ab6ab"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization.html#aa275ea61b77f35a2c778fdd6857ab6ab">pcl::on_nurbs::GlobalOptimization::solve</a></div><div class="ttdeci">virtual void solve(double damp=1.0)</div><div class="ttdoc">Solve system of equations using Eigen or UmfPack (can be defined in on_nurbs.cmake),...</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_html_aa97fa31a38b10f7b80241a7135adf74b"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization.html#aa97fa31a38b10f7b80241a7135adf74b">pcl::on_nurbs::GlobalOptimization::GlobalOptimization</a></div><div class="ttdeci">GlobalOptimization(const std::vector&lt; NurbsDataSurface * &gt; &amp;data, const std::vector&lt; ON_NurbsSurface * &gt; &amp;nurbs)</div><div class="ttdoc">Constructor with a set of data and a set of B-Spline surfaces.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_html_ab8adfbc7ef2618febe74738e139c89cd"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization.html#ab8adfbc7ef2618febe74738e139c89cd">pcl::on_nurbs::GlobalOptimization::assembleBoundaryPoints</a></div><div class="ttdeci">virtual void assembleBoundaryPoints(unsigned id, int ncps, double weight, unsigned &amp;row)</div><div class="ttdoc">Assemble point-to-surface constraints for boundary points.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_html_abf33b3da8bae7785ea8ae2b0fdf8a0d3"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization.html#abf33b3da8bae7785ea8ae2b0fdf8a0d3">pcl::on_nurbs::GlobalOptimization::setCommonBoundary</a></div><div class="ttdeci">void setCommonBoundary(const vector_vec3d &amp;boundary, const vector_vec2i &amp;nurbs_indices)</div><div class="ttdoc">Set common boundary points two NURBS should lie on</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_html_ac8aaefca95b9b3e2ad5f0b76a215489a"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization.html#ac8aaefca95b9b3e2ad5f0b76a215489a">pcl::on_nurbs::GlobalOptimization::assembleClosingBoundaries</a></div><div class="ttdeci">virtual void assembleClosingBoundaries(unsigned id, unsigned samples, double sigma, double weight, unsigned &amp;row)</div><div class="ttdoc">Assemble closing-constraint of boundaries by sampling from nurbs boundary and find closest point on c...</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_html_acb6b1332afeebbb6b66fd116a8db46d1"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization.html#acb6b1332afeebbb6b66fd116a8db46d1">pcl::on_nurbs::GlobalOptimization::assembleRegularisation</a></div><div class="ttdeci">virtual void assembleRegularisation(unsigned id, int ncps, double wCageRegInt, double wCageRegBnd, unsigned &amp;row)</div><div class="ttdoc">Assemble smoothness constraints.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_html_acf223c23a18421393aa77cb631a58c7d"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization.html#acf223c23a18421393aa77cb631a58c7d">pcl::on_nurbs::GlobalOptimization::assemble</a></div><div class="ttdeci">virtual void assemble(Parameter params=Parameter())</div><div class="ttdoc">Assemble the system of equations for fitting</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_html_ad733e3546af45191ca59cf83ce0c5f19"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization.html#ad733e3546af45191ca59cf83ce0c5f19">pcl::on_nurbs::GlobalOptimization::assembleInteriorPoints</a></div><div class="ttdeci">virtual void assembleInteriorPoints(unsigned id, int ncps, double weight, unsigned &amp;row)</div><div class="ttdoc">Assemble point-to-surface constraints for interior points.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_nurbs_solve_html"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_nurbs_solve.html">pcl::on_nurbs::NurbsSolve</a></div><div class="ttdoc">Solving the linear system of equations using Eigen or UmfPack. (can be defined in on_nurbs....</div><div class="ttdef"><b>Definition:</b> nurbs_solve.h:54</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_nurbs_solve_html_a70b6eb9dcea4c9625b4d288a529e0a33"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_nurbs_solve.html#a70b6eb9dcea4c9625b4d288a529e0a33">pcl::on_nurbs::NurbsSolve::setQuiet</a></div><div class="ttdeci">void setQuiet(bool val)</div><div class="ttdoc">Enable/Disable debug outputs in console.</div><div class="ttdef"><b>Definition:</b> nurbs_solve.h:111</div></div>
<div class="ttc" id="astructpcl_1_1on__nurbs_1_1_global_optimization_1_1_parameter_html"><div class="ttname"><a href="structpcl_1_1on__nurbs_1_1_global_optimization_1_1_parameter.html">pcl::on_nurbs::GlobalOptimization::Parameter</a></div><div class="ttdoc">Parameters for fitting</div><div class="ttdef"><b>Definition:</b> global_optimization_pdm.h:61</div></div>
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